1      Definition

A Data Type representing the Objects of a LiDAR Basic Scene and their arrangement in the Scene.

2      Functional Requirements

LiDAR Basic Scene Descriptors includes:

  1. The ID of a Virtual Space where it is or will be located.
  2. The ID of the LiDAR Scene Descriptors.
  3. The number of LiDAR Objects in the Scene.
  4. The LiDAR Basic Scene Space-Time.
  5. The LiDAR Objects that include, for each LiDAR Object:
    1. The LiDAR Object Space-Time.
    2. The LiDAR ObjectID or the LiDAR Object.

3      Syntax

https://schemas.mpai.community/CAV2/V1.0/data/LiDABasicSceneDescriptors.json

4      Semantics

Label Size Description
Header N1 Bytes LiDAR Basic Scene Header
– Standard-LiDARBasicScene 9 Bytes The characters “CAV-LBS-V”
– Version N2 Bytes Major version – 1 or 2 characters
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 characters
MInstanceID N4 Bytes Identifier of M-Instance.
LiDARSceneDescriptorsID N5 Bytes Identifier of the LiDAR Object.
ObjectCount N6 Bytes Number of Objects in Scene
LiDARBasicSceneSpaceTime N7 Bytes Data about Space-Time of LiDAR Scene
LiDARBasicSceneLiDARObjects[] N8 Bytes Set of LiDAR Objects in Basic Scene
– LiDARObjectID and/or LiDARObject N9 Bytes LiDAR Object ID or LiDAR Object
– LiDARObjectSpaceTime N10 Bytes Space-Time of LiDAR Object
DescrMetadata N11 Bytes Descriptive Metadata